The feature points could be used obtain salient points while performing registration using RANSAC remote module. The class PointFeature is the main driver that takes a PointSet as argument. Please refer to the documentation for a detailed description and sample usage: https://github.com/InsightSoftwareConsortium/ITKFPFH

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  • License: Apache Software License (Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR U...)
  • Author: Pranjal Sahu
  • Tags itk
  • Requires: Python >=3.8
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Project description

ITKFPFH

Overview

Module to calculate FPFH feature for a pointset. Sample Usage is shown below:

# normal_pointset is ITK Pointset which contains normal vector for each point
# pointset is ITK Pointset which contains the input points for which feature needs to be calculated

# normal_np is numpy array of shape [Nx3]
# fpfh_feature is numpy array of shape [33xN]
# 25 is the radius and 100 is the maximum number of neighbors

pointset = itk.PointSet[itk.F, 3].New()
normal_pointset = itk.PointSet[itk.F, 3].New()

normal_pointset.SetPoints(itk.vector_container_from_array(normal_np.flatten()))
fpfh = itk.Fpfh.PointFeature.MF3MF3.New()
fpfh.ComputeFPFHFeature(pointset, normal_pointset, 25, 100)
fpfh_feature = fpfh.GetFpfhFeature()
fpfh_feature = itk.array_from_vector_container(fpfh_feature)
fpfh_feature = np.reshape(fpfh_feature, [33, pointset.GetNumberOfPoints()])

One can obtain the normals using the following code:

def getnormals_pca(inputPoints):
    import vtk
    from vtk.util import numpy_support
    meshPoints = numpy_to_vtk_polydata(inputPoints)
    normals = vtk.vtkPCANormalEstimation()
    normals.SetSampleSize(30)
    normals.SetFlipNormals(True)
    #normals.SetNormalOrientationToPoint()
    normals.SetNormalOrientationToGraphTraversal()
    normals.SetInputData(meshPoints)
    normals.Update()
    as_numpy = numpy_support.vtk_to_numpy(normals.GetOutput().GetPointData().GetArray(0))
    return as_numpy

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  • License: Apache Software License (Apache License Version 2.0, January 2004 http://www.apache.org/licenses/ TERMS AND CONDITIONS FOR U...)
  • Author: Pranjal Sahu
  • Tags itk
  • Requires: Python >=3.8
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